From 2fb87c832d5ff07008308da1bab9b846b60ba7d3 Mon Sep 17 00:00:00 2001
From: mrDarker <mr.darker@163.com>
Date: 星期一, 09 六月 2025 15:22:00 +0800
Subject: [PATCH] 1. 把搬运记录的界面添加到主界面的Tab页
---
SourceCode/Bond/Servo/CRobotTask.cpp | 87 +++++++++++++++++++++++++++++++++++++++++--
1 files changed, 82 insertions(+), 5 deletions(-)
diff --git a/SourceCode/Bond/Servo/CRobotTask.cpp b/SourceCode/Bond/Servo/CRobotTask.cpp
index 17113b4..dc1b82e 100644
--- a/SourceCode/Bond/Servo/CRobotTask.cpp
+++ b/SourceCode/Bond/Servo/CRobotTask.cpp
@@ -1,6 +1,7 @@
#include "stdafx.h"
#include "CRobotTask.h"
#include "ToolUnits.h"
+#include "Log.h"
namespace SERVO {
@@ -8,11 +9,12 @@
{
generateId(m_strId);
m_state = ROBOT_TASK_STATE::Ready;
- m_timeCreate = CToolUnits::getTimestamp();
+ m_timeCreate = CToolUnits::getUnixTimestamp();
m_timeFetchOut = 0;
m_timeStored = 0;
m_timeFinish = 0;
m_pContext = nullptr;
+ m_pEFEM = nullptr;
}
CRobotTask::~CRobotTask()
@@ -42,10 +44,29 @@
return strOut;
}
+ std::string CRobotTask::getSimpleDescription() const
+ {
+ std::string strOut = "CRobotTask<ID:";
+ strOut = strOut + std::to_string(m_robotCmdParam.sequenceNo);
+ strOut = strOut + ",Arm:";
+ strOut = strOut + std::to_string(m_robotCmdParam.armNo);
+ strOut = strOut + ",GetPossion:";
+ strOut = strOut + std::to_string(m_robotCmdParam.getPosition);
+ strOut = strOut + ",GetSlot:";
+ strOut = strOut + std::to_string(m_robotCmdParam.getSlotNo);
+ strOut = strOut + ",PutPossion:";
+ strOut = strOut + std::to_string(m_robotCmdParam.putPosition);
+ strOut = strOut + ",PutSlot:";
+ strOut = strOut + std::to_string(m_robotCmdParam.putSlotNo);
+ strOut = strOut + ">";
+
+ return strOut;
+ }
+
void CRobotTask::setContext(CContext* pContext)
{
- if (pContext != nullptr) {
- pContext->release();
+ if (m_pContext != nullptr) {
+ m_pContext->release();
}
m_pContext = pContext;
@@ -57,6 +78,11 @@
CContext* CRobotTask::getContext()
{
return m_pContext;
+ }
+
+ void CRobotTask::setEFEM(CEFEM* pEFEM)
+ {
+ m_pEFEM = pEFEM;
}
std::string& CRobotTask::generateId(std::string& out)
@@ -120,6 +146,45 @@
return m_state;
}
+ void CRobotTask::run()
+ {
+ ASSERT(m_pEFEM);
+ m_state = ROBOT_TASK_STATE::Running;
+
+ static int seq = 0;
+ m_pEFEM->robotSendTransfer(++seq,
+ m_robotCmdParam.armNo,
+ m_robotCmdParam.getPosition,
+ m_robotCmdParam.putPosition,
+ m_robotCmdParam.getSlotNo,
+ m_robotCmdParam.putSlotNo,
+ [&](int code) -> int {
+ if (code == WOK) {
+ LOGI(_T("RobotTask已下发到EFEM"));
+ }
+ else {
+ LOGI(_T("RobotTask已下发失败"));
+ }
+
+ return 0;
+ });
+ }
+
+ void CRobotTask::completed()
+ {
+ m_state = ROBOT_TASK_STATE::Completed;
+ }
+
+ void CRobotTask::error()
+ {
+ m_state = ROBOT_TASK_STATE::Error;
+ }
+
+ void CRobotTask::abort()
+ {
+ m_state = ROBOT_TASK_STATE::Abort;
+ }
+
int CRobotTask::getSrcPosition()
{
return m_robotCmdParam.getPosition;
@@ -140,13 +205,25 @@
return m_robotCmdParam.putSlotNo;
}
+ CString CRobotTask::getStateString()
+ {
+ switch (m_state) {
+ case ROBOT_TASK_STATE::Ready: return _T("Ready");
+ case ROBOT_TASK_STATE::Running: return _T("Running");
+ case ROBOT_TASK_STATE::Error: return _T("Error");
+ case ROBOT_TASK_STATE::Abort: return _T("Abort");
+ case ROBOT_TASK_STATE::Completed: return _T("Completed");
+ default: return _T("Unknown");
+ }
+ }
+
void CRobotTask::fetchOut()
{
- m_timeFetchOut = CToolUnits::getTimestamp();;
+ m_timeFetchOut = CToolUnits::getUnixTimestamp();;
}
void CRobotTask::stored()
{
- m_timeStored = CToolUnits::getTimestamp();;
+ m_timeStored = CToolUnits::getUnixTimestamp();;
}
}
--
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